Class DriverStationSim

java.lang.Object
org.wpilib.simulation.DriverStationSim
public final class DriverStationSim extends Object
Class to control a simulated driver station.

  • Method Details

    • registerEnabledCallback

      public static CallbackStore registerEnabledCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on whether the DS is enabled.
      Parameters:
      callback - the callback that will be called whenever the enabled state is changed
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getEnabled

      public static boolean getEnabled()
      Check if the DS is enabled.
      Returns:
      true if enabled

    • setEnabled

      public static void setEnabled(boolean enabled)
      Change whether the DS is enabled.
      Parameters:
      enabled - the new value

    • registerRobotModeCallback

      public static CallbackStore registerRobotModeCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on DS robot mode changes.
      Parameters:
      callback - the callback that will be called when the robot mode changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getRobotMode

      public static RobotMode getRobotMode()
      Gets the robot mode set by the DS.
      Returns:
      robot mode

    • setRobotMode

      public static void setRobotMode(RobotMode mode)
      Change the robot mode set by the DS.
      Parameters:
      mode - the new value

    • registerEStopCallback

      public static CallbackStore registerEStopCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on the eStop state.
      Parameters:
      callback - the callback that will be called whenever the eStop state changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getEStop

      public static boolean getEStop()
      Check if eStop has been activated.
      Returns:
      true if eStopped

    • setEStop

      public static void setEStop(boolean eStop)
      Set whether eStop is active.
      Parameters:
      eStop - true to activate

    • registerFmsAttachedCallback

      public static CallbackStore registerFmsAttachedCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on whether the FMS is connected.
      Parameters:
      callback - the callback that will be called whenever the FMS connection changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getFmsAttached

      public static boolean getFmsAttached()
      Check if the FMS is connected.
      Returns:
      true if FMS is connected

    • setFmsAttached

      public static void setFmsAttached(boolean fmsAttached)
      Change whether the FMS is connected.
      Parameters:
      fmsAttached - the new value

    • registerDsAttachedCallback

      public static CallbackStore registerDsAttachedCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on whether the DS is connected.
      Parameters:
      callback - the callback that will be called whenever the DS connection changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getDsAttached

      public static boolean getDsAttached()
      Check if the DS is attached.
      Returns:
      true if attached

    • setDsAttached

      public static void setDsAttached(boolean dsAttached)
      Change whether the DS is attached.
      Parameters:
      dsAttached - the new value

    • registerAllianceStationIdCallback

      public static CallbackStore registerAllianceStationIdCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on the alliance station ID.
      Parameters:
      callback - the callback that will be called whenever the alliance station changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getAllianceStationId

      public static AllianceStationID getAllianceStationId()
      Get the alliance station ID (color + number).
      Returns:
      the alliance station color and number

    • setAllianceStationId

      public static void setAllianceStationId(AllianceStationID allianceStationId)
      Change the alliance station.
      Parameters:
      allianceStationId - the new alliance station

    • registerMatchTimeCallback

      public static CallbackStore registerMatchTimeCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on match time.
      Parameters:
      callback - the callback that will be called whenever match time changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getMatchTime

      public static double getMatchTime()
      Get the current value of the match timer.
      Returns:
      the current match time

    • setMatchTime

      public static void setMatchTime(double matchTime)
      Sets the match timer.
      Parameters:
      matchTime - the new match time

    • registerOpModeCallback

      public static CallbackStore registerOpModeCallback(NotifyCallback callback, boolean initialNotify)
      Register a callback on opmode changes.
      Parameters:
      callback - the callback that will be called when the opmode changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getOpMode

      public static long getOpMode()
      Gets the opmode.
      Returns:
      opmode

    • setOpMode

      public static void setOpMode(long opmode)
      Change the opmode.
      Parameters:
      opmode - the new value

    • registerOpModeOptionsCallback

      public static CallbackStore registerOpModeOptionsCallback(BiConsumer<String, OpModeOption[]> callback, boolean initialNotify)
      Register a callback on opmode options changes.
      Parameters:
      callback - the callback that will be called when the list of opmodes changes
      initialNotify - if true, the callback will be run on the initial value
      Returns:
      the CallbackStore object associated with this callback.

    • getOpModeOptions

      public static OpModeOption[] getOpModeOptions()
      Gets the list of opmode options.
      Returns:
      opmodes list

    • notifyNewData

      public static void notifyNewData()
      Updates DriverStation data so that new values are visible to the user program.

    • setSendError

      public static void setSendError(boolean shouldSend)
      Sets suppression of DriverStation.reportError and reportWarning messages.
      Parameters:
      shouldSend - If false then messages will be suppressed.

    • setSendConsoleLine

      public static void setSendConsoleLine(boolean shouldSend)
      Sets suppression of DriverStation.sendConsoleLine messages.
      Parameters:
      shouldSend - If false then messages will be suppressed.

    • getJoystickLeds

      public static int getJoystickLeds(int stick)
      Gets the joystick outputs.
      Parameters:
      stick - The joystick number
      Returns:
      The joystick outputs

    • getJoystickRumble

      public static int getJoystickRumble(int stick, int rumbleNum)
      Gets the joystick rumble.
      Parameters:
      stick - The joystick number
      rumbleNum - Rumble to get (0=left, 1=right, 2=left trigger, 3=right trigger)
      Returns:
      The joystick rumble value

    • setJoystickButton

      public static void setJoystickButton(int stick, int button, boolean state)
      Sets the state of one joystick button. Button indexes begin at 0.
      Parameters:
      stick - The joystick number
      button - The button index, beginning at 0
      state - The state of the joystick button

    • setJoystickAxis

      public static void setJoystickAxis(int stick, int axis, double value)
      Gets the value of the axis on a joystick.
      Parameters:
      stick - The joystick number
      axis - The analog axis number
      value - The value of the axis on the joystick

    • setJoystickPOV

      public static void setJoystickPOV(int stick, int pov, POVDirection value)
      Gets the state of a POV on a joystick.
      Parameters:
      stick - The joystick number
      pov - The POV number
      value - the angle of the POV

    • setJoystickAxesMaximumIndex

      public static void setJoystickAxesMaximumIndex(int stick, int maximumIndex)
      Sets the maximum index that an axis is available at.
      Parameters:
      stick - The joystick number
      maximumIndex - The maximum index an axis is available at.

    • setJoystickAxesAvailable

      public static void setJoystickAxesAvailable(int stick, int count)
      Sets the number of axes for a joystick.
      Parameters:
      stick - The joystick number
      count - The number of axes on the indicated joystick

    • setJoystickPOVsMaximumIndex

      public static void setJoystickPOVsMaximumIndex(int stick, int maximumIndex)
      Sets the maximum index that a pov is available at.
      Parameters:
      stick - The joystick number
      maximumIndex - The maximum index a pov is available at.

    • setJoystickPOVsAvailable

      public static void setJoystickPOVsAvailable(int stick, int count)
      Sets the number of POVs for a joystick.
      Parameters:
      stick - The joystick number
      count - The number of POVs on the indicated joystick

    • setJoystickButtonsMaximumIndex

      public static void setJoystickButtonsMaximumIndex(int stick, int maximumIndex)
      Sets the maximum index that a button is available at.
      Parameters:
      stick - The joystick number
      maximumIndex - The maximum index a button is available at.

    • setJoystickButtonsAvailable

      public static void setJoystickButtonsAvailable(int stick, long count)
      Sets the number of buttons for a joystick.
      Parameters:
      stick - The joystick number
      count - The number of buttons on the indicated joystick

    • setJoystickIsGamepad

      public static void setJoystickIsGamepad(int stick, boolean isGamepad)
      Sets the value of isGamepad for a joystick.
      Parameters:
      stick - The joystick number
      isGamepad - The value of isGamepad

    • setJoystickGamepadType

      public static void setJoystickGamepadType(int stick, int type)
      Sets the value of type for a joystick.
      Parameters:
      stick - The joystick number
      type - The value of type

    • setJoystickSupportedOutputs

      public static void setJoystickSupportedOutputs(int stick, int supportedOutputs)
      Sets the value of supported outputs for a joystick.
      Parameters:
      stick - The joystick number
      supportedOutputs - The value of supported outputs

    • setJoystickName

      public static void setJoystickName(int stick, String name)
      Sets the name of a joystick.
      Parameters:
      stick - The joystick number
      name - The value of name

    • setGameData

      public static void setGameData(String message)
      Sets the game specific message.
      Parameters:
      message - the game specific message

    • setEventName

      public static void setEventName(String name)
      Sets the event name.
      Parameters:
      name - the event name

    • setMatchType

      public static void setMatchType(MatchType type)
      Sets the match type.
      Parameters:
      type - the match type

    • setMatchNumber

      public static void setMatchNumber(int matchNumber)
      Sets the match number.
      Parameters:
      matchNumber - the match number

    • setReplayNumber

      public static void setReplayNumber(int replayNumber)
      Sets the replay number.
      Parameters:
      replayNumber - the replay number

    • resetData

      public static void resetData()
      Reset all simulation data for the Driver Station.